Location: 207 Brevard Ave. Cocoa, FL 32922
Historic Cocoa Village
Phone: 321-631-1133
Public Parking next to REC225
What is happening at Milpa
Weekly Specials
Crafted for the moment, available for a limited time....
Monday – Margarita Monday
1/2 price
50% off our hand-shaken lime & flavored margaritas, freshly made just for you
Tuesday – Taco Tuesday
22.95
All You Can Eat Tacos, crafted in-house, bold flavors served fresh every round
Taco Tuesday Special Menu | Dine-in ONLY
Wednesday – Wine Down
1/2 price
50% off bottles of wine, featuring a curated selection of Mexican wines
Thursday – Happy Hour
1/2 price
50% off our freshly crafted house lime tequila margaritas, queso dip & house-made salsas
Friday – Sangria Social
1/2 price
50% off our fresh, house-made sangria, served from 2pm to 5pm
Lunch Time
15.95
Mix & Match - Enjoy our special selection. Tuesday to Friday 12pm - 3pm (Lunch Special Menu | Dine-in ONLY)
Saturday & Sunday Brunch 11am - 3pm
18
Bottomless Fresh Flavored Mimosas
EVENTS COMING SOON...
CELEBRATE MEXICO WITH US! 🇲🇽
September 15 – El Grito de Independencia
Celebrate with All You Can Eat Tacos for $22.95! Pair your tacos with a fresh margarita or a cocktail from our craft bar.
September 16 – Mexican Independence Day
Did you know Mexico has the oldest winemaking tradition in the Americas?
Enjoy 50% off Wine Bottles and discover exceptional Mexican wines and hard-to-find labels.
Book Now on OpenTable: https://www.opentable.com/r/milpa-tacos-y-tortillas-cocoa
All dishes are made to order. Thank you for your patience, from the staff at Milpa. *Consumer Advisory : Consuming raw or undercooked meats, poultry, seafood, shellfish, or eggs may increase your risk of food borne illness, especially if you have certain medical conditions *All prices are reflecting a cash payment for those who would like to pay with a credit card there will be a convenience fee of 2.5% **Groups of 10 or more will incur a 20% gratuity to take care of your servers. Thank you for understanding!
Open Daily Hours
We're Open 7 Days a Week!
Sunday 11am-7pm (Brunch)
Monday 4pm-9pm (Margarita Monday)
Tuesday 12pm-9pm (Lunch - Taco Tuesday)
Wednesday 12pm-9pm (Lunch - Wine-Down)
Thursday 12am-9pm (Lunch - Happy Hour)
Friday 11am-10pm (Lunch - Sangria Social)
Saturday 11am-10pm (Brunch)
Closed on 11/26 & 12/25
We're Hiring!
Join our Team
About Us
Mission
The mission of Milpa team is to honor the food, essence and culture of Mexico by offering uniquely prepared dishes from scratch with only the best possible ingredients and service.
The Milpa concept is to feature modern Mexican cuisine and flavors from all parts of Mexico from Baja California to Jalisco to Oaxaca.
We specialize in making our own tortillas and a variety of salsas from scratch no one else has.
At Milpa there is an attention to details that take each dish up a notch by our chef the cuisine Chef Dickson Fernandez that serves each taco with it's own salsa that complements and balances all the ingredients for each taco perfectly.
Our cocktail menu focuses on agave based drinks with a concentration on Mezcal. Our wine list brings you great Mexican wines hard to find along with many others that pair well with our dishes.
What differentiates Milpa from other Mexican restaurants is its unique blend of authentic Mexican flavors and ingredients that are bold while still being approachable in the upmost comfortable setting.
"Sin maiz no hay pais "
Artisan Tacos & Craft Bar
Menu
Tacos (We recommend 3-4 tacos per person)
Our corn tortillas are made from scratch using 100% organic corn, gluten-free
Chicharron Taco
5.15
Fried pork Belly, pico de gallo, cilantro.
Carnitas Taco
4.95
Braised pork, pickled onion, cilantro.
Arrachera Taco
5.50
Skirt steak, ember roasted onions, avocado salsa, cilantro.
Wild Mushroom Taco
4.50
Smoked wine reduction sauce, cilantro. (Vegetarian option)
Ensenada Fish Taco
4.95
Beer battered, choice of (mahi or shrimp) red cabbage, red onions, chipotle cream, cilantro.
Cachete Taco
5.25
Beef cheek, red onion, cilantro.
Tinga Taco
4.75
Shredded chicken, smoked chipotle, fresh cheese, sour cream, cilantro.
Al Pastor Taco
5.25
Marinated pork, avocado sauce, pineapple, red onion, cilantro.
Vegan Taco
4.95
Soy meat, onion, avocado sauce, cilantro. (Vegetarian option)
Chorizo Taco
4.95
Ground Mexican Chorizo, ember roasted onion, fresh cilantro and fresh red onion
Botanas/Appetizers
Guacamole
MP
Avocado, red onion, jalapeno, cilantro, tomatoes, queso fresco, and tostadas. (Vegetarian option)
Salsas Flight
9
Salsa Molcajete Roja Salsa Verde Tomatillo and Salsa Taquera Spicy. Served with chips.
Queso Blanco Dip
10
Blend white cheeses, pickled jalapeños. Served with corn chips
Chori-Queso Fundo
16
Chihuahua & Monterrey Blend, Mexican chorizo with ember roasted onions, Chile toreado, served with chips
Aguachile Oysters 6/12
MP
Fresh oysters on hand the shell, lime, and fresh jalapeño. Seasonal – Please Ask (Dine-in Only)
Tuna Crudo Tostadas
18
Fried tortilla, avocado spread, tuna, ponzu sauce, scallions, jalapeno, chipotle drops, sesame seeds.
Flautas Doradas
15
Three fried corn tortillas, shredded chicken, avocado cream sauce, queso fresco, cilantro, and sour cream.
Tortilla Soup
8
Shredded chicken, avocado, cream, tortilla crisps, broth
Milpa Salad
19
Mixed greens, grilled chicken, cherry tomatoes, cucumber, pepitas, citrus vinaigrette.
Los platos / Main plates
Mole con Pollo
28
Bone-in-chicken, Oaxaca dried chiles sauce. Served with rice & warm corn tortillas. *Please allow extra time for preparation* (Dish contains nuts)
Enchiladas verdes
19
Shredded chicken or sauteed spinach, tomatillo salsa, red onions, queso fresco, crema.
Chiles Rellenos
22
Poblano peppers, fresh cheese, egg white batter, crema, red sauce and onions. Served with rice
Cochinita Pibil
26
Achiote marinated pork, pickled red onions. Served with black beans and homemade tortillas.
Chipotle Shrimp
29
Large shrimp, creamy chipotle, ember onions, bacon, mushrooms. Served with rice & tortilla.
Pollo Adobado
25
Adobado marinated chicken, rice, sautéed spinach, zucchini, cilantro crema, and pineapple salsa.
Carne Asada Angus
34
Grilled skirt steak, roasted peppers and onions. Served with Mexican rice and beans
Enmoladas
24
Corn tortilla, shredded chicken, mole, avocado, crema, queso fresco, and red onion. (Dish contains peanuts)
Sides
Tortillas Variety of the day (3ct)
3.25
Yellow homemadecorn
Frijol
4.50
Beans
Arroz
4.75
Yellow Mexican rice
Seasonal vegetables
4.75
Mushrooms, Onions & Zucchini
Postres / Desserts
Tres Leches
9.95
Flan Brûlée
9.95
Oaxacan Brownie
9.95
Oaxacan chocolate brownie, vanilla ice cream, cajeta, welnuts
Milpa's Cocktails
Milperita
13
Rompe Corazon mezcal, Pueblo Viejo tequila fresh grapefruit juice, and agave syrup
Ranch water
12
Tequila Centenario reposado, sparkling water, freshly squeezed lime, and spicy house blend rim.
Mezcal Mule
16
Rompe Corazon mezcal, freshly squeezed lime juice, natural tamarind juice, house-made ginger syrup.
Oaxaca Old Fashioned
14
Bourbon, Rompe Corazon mezcal, agave, chocolate bitters.
Paloma Aperol Spritz
15
Pueblo viejo tequila, Aperol, freshly squeezed grapefruit and lime juice, prosecco.
Naked & Famoso
14
Mezcal, Yellow Chartreuse, Aperol, lime
Rosa Mexicano
13
Mexican Gin, Campari, Lemon, Bitters and house Oleo
Los Clásicos
Margarita
10
Tequila or mezcal, freshly squeezed lime juice, and house-made simple syrup.
Flavored margarita
12
Tamarind- Natural juice
Coconut
Spicy- (Fresh jalapenos)
Guava- Natural juice
Hibiscus
Cantarito
13
Tequila or mezcal, freshly squeezed lime orange and grapefruit juice, soda
Carajillo
13
Licor 43, espresso
Michelada
9
Spice blend, lime, beer
Sangria roja
12
Red wine blend with a special mic of fresh citrus juices and spices.
Vino / Wine
Sauvignon Blanc, Monte Xanic Valle de Guadalupe, Mexico '22
14/45
Aromatic smooth yet dry bright acidity, zesty citrus lemon tea mineral. Recommended pairing: oysters.
Rose, Monte Xanic ojos negros, Mexico '22
15/50
100% granache, aromatic intense crips acidity, ripe strawberry, tangy citrus.
Recommended pairing: Oysters, ensenada tacos, esquites.
Cab-Syrah Monte Xanic Valle de Guadalupe, Vegan, Mexico '22
17/65
80% Cabernet Sauvignon and 20% Syrah, ripe black fruit with dense chewy silky tannins.
Recommended pairing: Mole, Carnitas taco
Carbenet Sauvignon Monte Xanic Valle de Guadalupe, Mexico '22
80
Hight intensity & complexity, full bodied, ripe plumps, Mexican vanilla, cocoa.
Recommended pairing: Arrachera taco, Chicharron taco.
(New) Barbera, Santo Tomas, Baja California '22
84
100% Barbera, red fruits aroma and notes of cranberry, tobacco, smoke and licorice. Recommended pairing: Mole, Arrachera Taco
(Deluxe) Unico Gran Reserva, Santo Tomas, Baja California
110
Deluxe selection 60% Cabernet Sauvignon and 40% Merlot. Wild berries, notes of cacao and vainilla, spices and flowers, with a hint of leather. Recommended pairing: Birria, Cochinita Pibil and Carne Asada Angus
Pinot Noir, Pas de Probleme, Languedoc, France '22
15/55
Malbec, Jelu, Argentina '22
14/50
Canyon Road
9
Cervezas / Beers
Ultra
4
Yuengling larger
4
High Noon seltzer Pineapple
4
Corona
7
Modelo Especial
7
Pacifico
7
Victoria
7
Modelo Negra
7
Corona light
7
Voodoo Ranger IPA
7
Heineken
7
Heineken 0.0
7
Soft drinks and others.
Non alcoholic
Fountain soda
4.50
Coke, Diet Coke, Sprite, Minute maid, Iced tea. (free refills)
Mexican Coke
4
Bottled soda
Jarritos Soda
4
Bottled soda: mandarin & pineapple.
Mineragua Jarritos
4
Sparkling water
Aguas Frescas
5
Lime, guava, hibiscus, coconut, tamarind.
Coffee
3
Nespresso
5
Kids Menu (Designed for our little guests, 12 and under )
Orange wedges
2
Orange juice (Natalie's Natural)
4
Milk
4
Chicken fingers
8
Quesadilla cheese
8
Quesadilla cheese and chicken
9
Lunch Time: Tuesday to Friday 12pm - 3pm (Dine in only)
Mix & Match: Choose two tacos and two sides of your choice
15.95
TACOS: Tinga, Carnitas, Arrachera, Ensenada or Mushroom
SIDES: Yellow Mexican Rice, Black Beans, Esquites or Grilled Veggies
Promotion valid for dine-in only
Limited time offer
Weekend Special Meals
Birria Plate (Friday, Saturday & Sunday)
29
Marinated for 24 hours, then slow cooked for 4 hours- this meat trio of goat, oxtail, and pork ribs marries into the famous Jalisco stew- served with rice, beans, and corn tortillas.
Birria Tacos (Friday, Saturday & Sunday)
19.50
4 tacos. Birria, (trio meat stew) Monterey Jack cheese, onion, and cilantro.
Brunch: Served 11am- 3pm. Only Saturday and Sunday.
Enchiladas Verdes with Egg
18.95
Corn tortillas, shredded chicken or sauteed spinach, tomatillo salsa, queso fresco, crema
Enmoladas with Egg
18.95
Corn tortillas, shredded chicken, mole, avocado, crema, queso fresco, red onion.
Huevos Rancheros
18.95
2 Eggs over easy smothered in red and green salsa, crema, queso fresco> Served with beans & homemade tortillas.
French Toast con Fresas
15.75
French toast topped with strawberries, fresh cream, and cajeta.
Avocado Toast
18.95
2 slices of bread toasted, smothered with fresh avocado, topped with eggs, queso fresco and cherry tomatoes
Bacon strips (3)
4
Bottomless Mimosas
18
All dishes are made to order. Thank you for your patience, from the staff at Milpa. *Consumer Advisory : Consuming raw or undercooked meats, poultry, seafood, shellfish, or eggs may increase your risk of food borne illness, especially if you have certain medical conditions *All prices are reflecting a cash payment for those who would like to pay with a credit card there will be a convenience fee of 2.5% **Groups of 10 or more will incur a 20% gratuity to take care of your servers. Thank you for understanding!
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